PCL学习03之彩色点云显示

1、compute3DCentroid计算质心

Eigen::Vector4f centroid;  //质心 
pcl::compute3DCentroid(*cloud_smoothed,centroid); // 计算质心，齐次坐标，（c0,c1,c2,1）
	cout << "pcl::compute3DCentroid(*cloud, centroid)：" << endl  << centroid(0) << "  " << centroid(1) << "  " << centroid(2) << "  " << centroid(3) << endl

2、显示.ply文件

//点云需要的头文件
#include <pcl/point_types.h>
#include <pcl/io/ply_io.h>
#include <pcl/visualization/pcl_visualizer.h>

pcl::PointCloud<pcl::PointXYZ>::Ptr loadPointCloud(std::string path)
{

	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPLYFile<pcl::PointXYZ>(path, *cloud) == -1)
	{
		PCL_ERROR("Couldnot read file.\n");
		return 0;
	}
	std::cout << "pointcloud size: " << cloud->width << " * " << cloud->height << std::endl;
	return cloud;
}

void drawPointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, std::string titleName)
{
	pcl::visualization::PCLVisualizer viewer(titleName);
	int v(0);

	viewer.createViewPort(0.0, 0.0, 1.0, 1.0, v);

	viewer.addCoordinateSystem(0.5);

	float bckgr_gray_level = 0.0;  // Black
	float txt_gray_lvl = 1.0 - bckgr_gray_level;

	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_in_color_h(cloud, (int)255 * txt_gray_lvl, (int)255 * txt_gray_lvl, (int)255 * txt_gray_lvl);
	viewer.addPointCloud(cloud, cloud_in_color_h, "cloud_in_v1", v);

	viewer.addText(titleName, 10, 15, 16, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, "icp_info_1", v);

	viewer.setBackgroundColor(bckgr_gray_level, bckgr_gray_level, bckgr_gray_level, v);

	viewer.setCameraPosition(-3.68332, 2.94092, 5.71266, 0.289847, 0.921947, -0.256907, 0);
	viewer.setSize(1280, 1024);

	while (!viewer.wasStopped())
	{
		viewer.spinOnce();
	}
}

int main() {
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);

	if (pcl::io::loadPCDFile("./cloud/cloud3.pcd", *cloud) == -1) { // 读取.pcd文件
		cerr << "can't read file bunny.pcd" << endl;
		return -1;
	}

	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));

	pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);

	viewer->addPointCloud<pcl::PointXYZRGB>(cloud, "sample cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); // 设置点云大小

	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return 0;
}

3、基于颜色的区域生长分割

#include <pcl/io/pcd_io.h>
#include <pcl/search/search.h>
#include <pcl/search/kdtree.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/segmentation/region_growing_rgb.h>
#include <pcl/console/time.h>
#include <boost/thread/thread.hpp>
using namespace std;

int main()
{
	//------------------------------- 加载点云 -------------------------------
	cout << "->正在加载点云..." << endl;
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud <pcl::PointXYZRGB>);
	if (pcl::io::loadPCDFile<pcl::PointXYZRGB>("./cloud/cloudBlue.pcd", *cloud) < 0)//./cloud/test.pcd
	{
		PCL_ERROR("\a点云文件不存在！\n");
		system("pause");
		return (-1);
	}
	cout << "->加载点的个数：" << cloud->points.size() << endl;
	//========================================================================

	//--------------------------- 基于颜色的区域生长 ---------------------------
	pcl::console::TicToc time;
	time.tic();
	cout << "->正在进行基于颜色的区域生长..." << endl;
	pcl::search::Search <pcl::PointXYZRGB>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZRGB>);
	pcl::RegionGrowingRGB<pcl::PointXYZRGB> rgr;	//创建生长对象
	rgr.setInputCloud(cloud);						//设置输入点云
	rgr.setSearchMethod(tree);						//设置搜索方法
	rgr.setDistanceThreshold(0.2);					//设置距离阈值，用于判断两点是否相邻，小于阈值的为相邻点，用于聚类邻域点搜索
	rgr.setPointColorThreshold(20);					//设置点之间的颜色阈值，类似于基于曲率的区域生长中的平滑阈值，用于提取同一区域的点
	rgr.setRegionColorThreshold(20);				//设置聚类之间的颜色阈值，用于聚类合并
	rgr.setMinClusterSize(50);						//设置满足一个聚类的最小点数，如果聚类点数小于该阈值，则将其与最近的一个聚类合并
	rgr.setMaxClusterSize(99999999);				//设置满足一个聚类的最大点数
	std::vector <pcl::PointIndices> clusters;		//聚类索引向量
	rgr.extract(clusters);							//获取聚类结果，并保存到索引向量中
	cout << "->聚类个数为" << clusters.size() << endl;
	cout << "->区域生长用时：" << time.toc() / 1000 << " s" << endl;
	//========================================================================

	//----------------------------- 可视化生长结果 -----------------------------
	pcl::PointCloud <pcl::PointXYZRGB>::Ptr colored_cloud = rgr.getColoredCloud();	//对不同的分类结果随机赋色
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("基于颜色的区域生长分割结果"));
	viewer->addPointCloud<pcl::PointXYZRGB>(colored_cloud, "colored_cloud");
	//viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "colored_cloud");
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
	//========================================================================

	return (0);
}

原点云：

结果显示

->正在加载点云...
->加载点的个数：198835
->正在进行基于颜色的区域生长
->聚类个数为53
->区域生长用时：1.73462 s

参考链接

PCL 【点云分割】
PCL：基于颜色的区域生长分割